CN101290506A - Control system and adjusting method thereof - Google Patents

Abstract

The invention discloses a control system for controlling an output signal generated by a controlled body, which comprises a main control unit, a first adjusting unit and a second adjusting unit, wherein the robustness and the quick response of the control system are achieved through the adjustment of two weight parameters of a first multiplying power and a second multiplying power, and the exceeding amount of the output signal of the controlled body disappears or approaches to zero. The control system has the technical characteristics of target bandwidth, low-frequency interference resistance and transfer function following, and the technical characteristics are achieved in a real-time regulation and control mode through the design of the main control unit, the first adjusting unit and the second adjusting unit and the adjustment of two weight parameters of the first multiplying power and the second multiplying power.

Description

Control system and its adjustment method

technical field

The present invention relates to a control system and its adjustment method, in particular to a robustness (Robustness) control system and its adjustment method.

Background technique

Control systems play an increasingly important role in promoting the development of modern civilization and technology. For example, household electrical products, automobiles, and bathroom toilets are all control systems, and control systems are more commonly used in industries.

In the application of the servo mechanism, a mathematical model is usually established based on the physical behavior of the system, and the behavior of the system can be easily predicted and controlled by the control function in the mathematical model.

The traditional proportional-integral-derivative (PID) controller includes proportional (Proportional), integral (Integral) and differential (Derivative) items. The proportional item adjusts the output of the controller according to the error, and the integral item is used to eliminate the steady-state error. The differential term has the effect of predicting the direction of the error. Because of its simple structure, it is still widely used today.

Taking a motor as an example for illustration, please refer to FIG. 1 , which is a schematic block diagram of a conventional motor control system. In Fig. 1, the controlled body 11 is a motor. According to the physical behavior of the motor operation, the mathematical model of the controlled body 11 of the control system 10 is established. The transfer function of the model is K _t /((J _m +J _d )s +B), where J _m is a motor inertia, J _d is a load inertia, B is a damping coefficient, and K _t is a proportional value. The controlled body 11 receives a driving signal PV, and generates an output signal PY accordingly. The output signal PY in this example is a rotational speed. The motor will suffer from external disturbance (Disturbance) during operation, and the disturbance may come from electromagnetic or mechanical. Here, a third totalizer 111 is used to include the disturbance into the consideration of the control system 10, that is, the third totalizer 111 sums a third operation signal PU ₃ and an interference signal PW generated by a front-end main controller 12 to generate a driving signal PV for driving the motor. In the existing motor embodiment in FIG. 1 , a simplified illustration is made. More completely, the third operating signal PU ₃ passes through a high-bandwidth current loop, and then combines with the disturbance signal PW. At this time, the third operating signal PU 3 PU ₃ is an equivalent armature current, and the disturbance signal PW is a disturbance torque.

The master controller 12 of Fig. 1 is a proportional-integral (PI) controller, and the transfer function of controller 12 is K _P +K _I *1/s; Wherein comprises a proportional function K _P and an integral function K _I *1/s s; and the proportional function K _P is also a proportional coefficient, which is used to improve an open-loop gain bandwidth of the control system 10, so that the control system 10 can respond quickly; K _I is an integral coefficient, used to reduce the stability of the control system 10 state following error. Since the wider the target bandwidth B _w of the control system 10 is, the faster its response speed is. Therefore, generally speaking, the proportional coefficient K _P is set to 2πB _w (J _m +J _d )/K _t to ensure the open loop The gain has a target bandwidth B _w . The main controller 12 receives an error signal PE, and the error signal PE is processed by a proportional function K _P to generate a first operation signal PU ₁ ; the error signal PE is processed by an integral function K _I *1/s to generate a second operation The signal PU ₂ ; the first operation signal PU ₁ and the second operation signal PU ₂ are summed by a second adder 121 to generate a third operation signal PU ₃ .

The control system 10 is a closed-loop control system, which has a first totalizer 141. The first totalizer 141 subtracts the output signal PY of the controlled object 11 from the input signal PR including the set value command to generate an error The signal PE is sent to the main controller 12 . The purpose of the entire closed-loop control system 10 is to keep the magnitude of the output signal PY consistent with the set value of the input signal PR so as not to be affected by the disturbance signal PW.

Please refer to FIG. 2 , which is a step response diagram of an existing control system. FIG. 2 includes a step function command input signal curve A1 , a third operation signal curve A2 in FIG. 1 , and an output signal curve A3 in FIG. 1 . As shown in Figure 2, the input signal PR is set as a step function command, and after being processed by the main controller 12, the third operation signal PU ₃ will be generated to provide to the controlled body 11; when the control system 10 in Figure 1 requires fast When there is a small error in the response, the output signal PY of the controlled object 10 will have a large excess.

In addition, since the response of most industrial processes is very slow, difficulties arise when adjusting the response of the output signal of the control system using a proportional coefficient, an integral coefficient, and a differential coefficient in a differential function. The user may have to wait minutes or even hours to observe the response produced by the adjustment, making the adjustment of the controller by trial and error a tiresome and time-consuming task; system requirements.

In summary, it can be seen that how to make the control system reduce the overshoot of the output signal of the controlled object, reduce the adjustment time, and achieve the robustness of the control system when the control system responds quickly and has a small error. motivation.

Contents of the invention

In view of the above-mentioned problems in the prior art, the present invention proposes a control system and an adjustment method thereof.

The present invention proposes a control system, including a main control unit, a first adjustment unit and a second adjustment unit; wherein, the main control unit is designed according to the physical behavior of the controlled body and the bandwidth of the control system; according to the controlled Based on the response behavior of the object, the first adjustment unit is designed to cancel an interference signal suffered by the controlled object; the design of the second adjustment unit makes the transfer function of the control system approach the transfer function of the second adjustment unit. In this way, the robustness and quick response of the system can be achieved, and the excess of the output signal of the controlled object disappears or approaches zero.

According to the above-mentioned control system of the present invention, it is used to control an output signal generated by a controlled object, including a main control unit, a first adjustment unit and a second adjustment unit; wherein, the main control unit is based on the controlled object The physical behavior is designed to make an open-loop bandwidth of the control system close to a target bandwidth and generate a first operating signal; the first adjustment unit is designed according to the response behavior of the controlled object to receive the first operating signal, According to this, a first adjustment signal is generated, wherein the first adjustment signal, the output signal and the first operation signal are calculated to generate a second operation signal, so that the output signal is close to the first adjustment signal, so as to offset the one suffered by the controlled object Interference signal; the second adjustment unit receives an input signal to generate a second adjustment signal, wherein the second adjustment signal, the output signal and the input signal are calculated to generate a third operation signal, which is provided to the main control unit, so that the control The transfer function of the system approaches the transfer function of the second adjustment unit.

The present invention proposes another control system, including a main control unit and a first adjustment unit; wherein, the design of the main control unit makes it meet the target bandwidth of the control system; the design of the first adjustment unit makes the controlled body The output signal of the first adjustment unit is close to the first adjustment signal generated by the first adjustment unit, so as to cancel an interference signal suffered by the controlled object. In this way, the adjustment effect of high efficiency and elimination of uncertain factors is achieved.

Another control system according to the present invention is used to control an output signal generated by a controlled object, including a main control unit and a first adjustment unit; wherein, the main control unit makes an open loop bandwidth of the control system close to a target bandwidth and generate a first operation signal; the first adjustment unit receives the first operation signal to generate a first adjustment signal, wherein the first adjustment signal, the output signal and the first operation signal are calculated to generate a The second operation signal makes the output signal close to the first adjustment signal, so as to cancel an interference signal suffered by the controlled object.

The present invention also proposes an adjustment method of the control system. A control function is designed by controlling the target bandwidth of the system; then, a first adjustment signal is generated by a first operation signal generated by the control function, and passed through Operation and feedback, so that an output signal generated by the controlled object is close to the first adjustment signal. If a further stabilizing effect is required, the transfer function of the control system is made to approach the second adjustment function by the action of a second adjustment function. In this way, an intuitive, easy and friendly adjustment effect is achieved.

According to the adjustment method of the above-mentioned control system of the present invention, it is used to adjust an output signal generated by a controlled object, comprising the following steps: first, formulate a target bandwidth of the control system; then, design a control system according to the target bandwidth The function makes an open-loop bandwidth of the control system close to the target bandwidth, and generates a first operation signal; then, generates a first adjustment signal by means of the first operation signal; then, calculates the first adjustment signal, The output signal and the first operation signal generate a second operation signal to make the output signal close to the first adjustment signal.

Description of drawings

In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and understandable, the specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein:

FIG. 1 is a schematic block diagram of an existing motor control system;

Fig. 2 is the step response figure of existing control system;

Fig. 3 is a schematic block diagram of the control system proposed by the present invention;

Fig. 4 is a schematic block diagram of the control system proposed by the present invention when the controlled body is a motor;

Fig. 5 is the first step response figure of the control system of Fig. 4;

Fig. 6 is the second step response figure of the control system of Fig. 4;

Fig. 7 is the third step response figure of the control system of Fig. 4;

Fig. 8 is the fourth step response diagram of the control system of Fig. 4; and

FIG. 9 is a fifth step response diagram of the control system in FIG. 4 .

Detailed ways

In order to clearly describe the control system and its adjustment method proposed by the present invention, a number of preferred embodiments are listed below for illustration:

Please refer to FIG. 3 , which is a schematic block diagram of the control system proposed by the present invention. In the first embodiment realized according to FIG. 3, the control system 30 is used to control an output signal Y generated by a controlled body 31, including a main control unit 32, a first adjustment unit 33 and a second adjustment unit 34. Among them, the main control unit 32 is the core part of the control system 30. When the first adjustment unit 33 and the second adjustment unit 34 are not involved in the operation of the control system 30 and the control system 30 is in an open loop state, according to the physical The behavior design main control unit 32 makes an open-loop bandwidth of the control system 30 close to a target bandwidth B _w , and generates a first operation signal U ₁ . In the above description, the first adjustment unit 33 is not added to the control system 30, which is achieved by setting a first magnification h of a first amplifier 332 in the loop passed by the first adjustment unit 33 to be zero; the second adjustment unit 34 does not have Adding to the control system 30 is achieved by setting a second magnification m of a second amplifier 344 in the loop through which the second adjustment unit 34 passes to be zero. The main control unit 32 generally includes a proportional-integral controller.

During the operation of the controlled object 31, it will suffer from the disturbance of uncertain factors (Disturbance), whose size is a disturbance signal W, and here, a third totalizer 311 is used to incorporate the disturbance signal W into the control system 30 Control range. The interference signal W will affect the robustness of the control system 30, so that the control system 30 cannot operate stably.

Therefore, the first adjustment unit 33 is added to enable the control system 30 to quickly respond to offset the interference signal W suffered by the controlled object 31 , thus increasing the robustness of the control system 30 . The first adjustment unit 33 is designed according to the response behavior of the controlled object 31, that is, the transfer function of the first adjustment unit 33 is designed to simulate the transfer function of the controlled object 31; the first adjustment unit 33 receives the first operation signal U ₁ , so as to generate a first adjustment signal Q ₁ , wherein the first adjustment signal Q ₁ , the output signal Y and the first operation signal U ₁ are calculated to generate a second operation signal U ₂ ; the third totalizer 311 adds Combine the second operation signal U ₂ and the interference signal W to generate a driving signal V to drive the controlled object 31 to generate an output signal Y; through the feedback effect, the output signal Y is made close to the first adjustment signal Q ₁ , according to The interference signal W suffered by the controlled object 31 is cancelled. However, the first adjustment unit 33 is suitable for resisting low-frequency interference.

Next, the operation of the first adjustment signal Q ₁ , the output signal Y and the first operation signal U ₁ to generate the second operation signal U ₂ will be described. The control system 30 also includes a first totalizer 331, a first amplifier 332 and a second totalizer 333; wherein, the first totalizer 331 subtracts the output signal Y from the first adjustment signal _Q1 to generate a The first result signal T ₁ ; the first amplifier 332 receives the first result signal T ₁ , and amplifies a first magnification h to generate a second result signal T ₂ . By adjusting the first magnification h, the output signal Y is close to the first result signal an adjustment signal Q ₁ ; the second adder 333 sums the first operation signal U ₁ and the second result signal T ₂ to generate a second operation signal U ₂ .

When the target bandwidth B _w of the control system 30 increases, the response speed required by the control system 30 should also be accelerated, and it is hoped to further reduce the error, reduce the overshoot of the output signal Y of the controlled object, and strengthen the control system 30 stability, so the second adjustment unit 34 is added. The second adjustment unit 34 receives an input signal R, and generates a second adjustment signal Q ₂ accordingly, wherein the second adjustment signal Q ₂ , the output signal Y and the input signal R are calculated to generate a third operation signal U ₃ , to provide to the main control unit 32 ; through the action of the control system 30 , the transfer function of the control system 30 approaches the transfer function of the second adjustment unit 34 .

Next, the operation of the second adjustment signal Q ₂ , the output signal Y and the input signal R to generate the third operation signal U ₃ will be described. The control system 30 also includes a fourth totalizer 342, a loop stabilizer 343, a second amplifier 344 and a fifth totalizer 341; wherein, the fourth totalizer 342 subtracts the second adjustment signal _Q2 output signal Y to generate a third result signal T ₃ ; the loop stabilizer 343 receives the third result signal T ₃ to generate a fourth result signal T ₄ , and the loop stabilizer 343 has a function F including integral, Through the action of the integral function F, the control system 30 achieves zero steady-state error; the second amplifier 344 receives the fourth result signal T ₄ , and amplifies a second magnification m to generate a fifth result signal T ₅ , via Adjust the second magnification m so that the transfer function of the control system 30 approaches the transfer function of the second adjustment unit 34; the fifth totalizer 341 sums the input signal R and the fifth result signal T ₅ , and subtracts the output signal Y, to generate the third operation signal U ₃ .

Next, a second embodiment realized based on FIG. 3 will be described. The control system 30 is used to control an output signal Y generated by a controlled object 31 , and includes a main control unit 32 and a first adjustment unit 33 . Among them, the main control unit 32 is the core part of the control system 30. When the first adjustment unit 33 is not involved in the operation of the control system 30 and the control system 30 is in an open loop state, the main control unit is designed according to a target bandwidth _Bw of the control system 30. The control unit 31 makes an open-loop bandwidth of the control system 30 close to a target bandwidth B _w , and generates a first operating signal U ₁ . In the above description, the first adjustment unit 33 is not included in the control system 30 , which is achieved by setting a first multiplier h of a first amplifier 332 in the loop passing through the first adjustment unit 33 to be zero. The main control unit 30 generally includes a proportional-integral controller, and the main control unit 32 is designed by the physical behavior of the controlled object 31, which can easily make an open-loop bandwidth of the control system 30 close to a target bandwidth B _w . At this time, the control system 30 may further include a fifth totalizer 341 , the fifth totalizer 341 subtracts the output signal Y from the input signal R to generate a third operation signal U ₃ , and provides the third operation signal U 3 to the main control unit 32 .

The first adjustment unit 33 receives the first operation signal U ₁ to generate a first adjustment signal Q ₁ , wherein the first adjustment signal Q ₁ , the output signal Y and the first operation signal U ₁ are calculated to generate a second The operation signal U ₂ ; the third totalizer 311 sums the second operation signal U ₂ and an interference signal W to generate a driving signal V to drive the controlled object 31 to generate an output signal Y; through the function of feedback, the The output signal Y is close to the first adjustment signal Q ₁ , so as to cancel the interference signal W suffered by the controlled object 31 . The first adjustment unit 33 is generally designed according to the response behavior of the controlled object 31 , that is, the transfer function of the first adjustment unit 33 is designed by simulating the transfer function of the controlled object 31 . And the first adjustment unit 33 is suitable for resisting low-frequency interference.

The operation of the first adjustment signal Q ₁ , the output signal Y and the first operation signal U ₁ to generate the second operation signal U ₂ is the same as that described in the first embodiment.

The control system 30 of the second embodiment further includes a second adjusting unit 34 . The second adjustment unit 34 receives an input signal R, and generates a second adjustment signal Q ₂ accordingly, wherein the second adjustment signal Q ₂ , the output signal Y and the input signal R are calculated to generate a third operation signal U ₃ , to provide to the main control unit 32 ; through the action of the control system 30 , the transfer function of the control system 30 approaches the transfer function of the second adjustment unit 30 .

The operation of the second adjustment signal Q ₂ , the output signal Y and the input signal R to generate the third operation signal U ₃ is the same as that described in the first embodiment.

In servo mechanism applications, a motor is a commonly used controlled body 31 . Please refer to FIG. 4 , which is a schematic block diagram of the control system proposed by the present invention when the controlled object is a motor. The symbols in the control system 40 of Fig. 4 have the same names and functions as the symbols in the control system 30 of Fig. 3. In Fig. 4, the transfer function of the physical behavior of the controlled body 31 is K _t /((J _m +J _d )s+B), where J _m is a motor inertia, J _d is a load inertia, B is a damping coefficient, and K _t is a proportional value. In order to design the main control unit 32 according to the physical behavior of the controlled object 31, and to design the first adjustment unit 33 according to the response behavior of the controlled object 31, here, the total inertia of the motor and the load (J _m +J _d ) is introduced An estimated value of inertia J _∑ , and it is assumed in advance that J _∑ =J _m +J _d . Therefore, the transfer function of the main control unit 32 is designed as 2πB _w J _∑ /K _t , where B _w is the target bandwidth B _w of the control system 40, and J _∑ is the estimated value of inertia of (J _m +J _d ), so , so that the open-loop bandwidth of the control system 40 is close to the target bandwidth B _w . According to the response behavior of the controlled object 31, the transfer function of the first adjustment unit 33 is designed as K _t /( _J∑ s), and through calculation and feedback, the output signal Y generated by the controlled object 31 is close to the first The first adjustment signal Q ₁ generated by the adjustment unit 33 . Furthermore, the transfer function of the second adjustment unit 34 is designed to be 2πB _w /(s+2πB _w ), and the transfer function of the control system 40 will approach the transfer function of the second adjustment unit 34 through calculation and feedback.

Next, in Fig. 4, set the target bandwidth B _w = 50Hz, the first magnification h = 1, and the second magnification m = 1, to generate actual data, and compare the two control systems in Fig. 4 and Fig. 1, The control system 10 shown in FIG. 1 is an existing proportional-integral-derivative (PID) control architecture (taking a proportional-integral (PI) controller as an example, and setting a target bandwidth B _w =50 Hz). The obtained results are shown in FIG. 5 , which is the first step response diagram of the control system in FIG. 4 . FIG. 5 includes a step function command input signal curve A1 , a third operation signal curve A2 in FIG. 1 , an output signal curve A3 in FIG. 1 , a second operation signal curve B1 in FIG. 4 , and an output signal curve B2 in FIG. 4 . At this time, the first adjustment unit 33 is in the state of the first-order 50 Hz bandwidth, and the first adjustment signal _Q1 generated by it corresponds to a first adjustment signal curve (not shown in the figure). As shown in FIG. 5 , the output signal curve B2 generated by the control system 40 of the present invention has no overshoot, can easily overcome the influence of the damping coefficient B, and is quite close to the first adjustment signal curve.

Continue to discuss the influence of the second magnification m on the control system 40. Here, it is assumed that the estimated inertia value J _∑ = (J _m + J _d )/2, that is, the estimated inertia value J _∑ only has the actual inertia (J _m + J _d ) half of. First, set the target bandwidth B _w =50 Hz, and the first magnification h=1, and then increase the second magnification m in sequence. The obtained results are shown in FIG. 6 , which is a second step response diagram of the control system of FIG. 4 . In Fig. 6, include step function command input signal curve A1, the output signal curve PID of Fig. 1, the second magnification of Fig. 4 is 1 output signal curve m=1, the second magnification of Fig. 4 is 2 output signal curve m=2 , the output signal curve m=3 for the second magnification of 3 in FIG. 4 and the output signal curve m=4 for the second magnification of 4 in FIG. 4 . As shown in Figure 6, the output signal curve A3 that the existing proportional-integral-derivative (PID) control system 10 of Figure 1 operates has a very large amount of excess; When it increases, the corresponding excess amount becomes smaller and smaller, and the rise time is also getting closer to 20ms.

Likewise, the influence of the first magnification h on the control system 40 is discussed. First, set the target bandwidth B _w =50 Hz, and the second magnification m=1, and then increase the first magnification h sequentially. The obtained results are shown in FIG. 7 , which is the third step response diagram of the control system in FIG. 4 . In Fig. 7, step function command input signal curve A1 is included, the first magnification is 1 output signal curve h=1, the first magnification is 2 output signal curve h=2, the first magnification is 4 output signal curve h=4, and the first magnification is 4 output signal curve h=4. The first magnification is 6 output signal curve h=6 and the first magnification is 8 output signal curve h=8. As shown in FIG. 7 , when the first magnification h increases, the corresponding overrun becomes smaller and smaller, and the rise time also gets closer to 20 ms.

When the specification required by the control system 40 is that the target bandwidth B _w is 50 Hz, the rise time of the step response is 20 ms, and there is no overshoot, it can be seen from the above description that the optimal setting to meet the specification is the target bandwidth B _w =50 Hz, the first magnification h=1 and the second magnification m=4.

Next, the influence of a change in the estimated inertia value _JΣ on the control system 40 will be described. When the relationship between the load inertia J _d and the motor inertia J _m is J _d = 10J _m , set the estimated value of inertia J _∑ as J _∑ = 6J _m , J _∑ = 11J _m and J _∑ = 16J _m respectively. The controlled object 31 outputs a change in the signal Y. The obtained results are shown in FIG. 8 , which is the fourth step response diagram of the control system in FIG. 4 . Fig. 8 includes the step function command input signal curve A1, the third operating signal curve C1 caused by the estimated inertia value _J∑ =6J _m , the third operating signal curve C2 caused by the estimated inertia value _J∑ =11J _m , the estimated value of inertia The third operation signal curve C3 due to J _∑ =16J _m , the output signal curve D1 due to the estimated value of inertia J _∑ =6J _m , the output signal curve D2 due to the estimated value of inertia J _∑ =11J _m and the estimated value of inertia J _∑ = Output signal curve D3 due to 16J _m . The three third operation signal curves C1, C2, and C3 in Fig. 8 are generated by the main control unit 32, the first adjustment unit 33 and the second adjustment unit 34 through the addition of the first magnification h and the second magnification m with different weights. get. As shown in FIG. 8, the control system 40 of the present invention has good robustness to changes in the inertia estimate _JΣ .

Also, the influence of a change in the load inertia _Jd on the control system 40 will be described. When the relationship between the estimated inertia value J _∑ and the motor inertia J _m is J _∑ = 11J _m , set the load inertia J _d as J _d = 5J _m , J _d = 10J _m and J _d = 15J _m respectively, and observe The controlled object 31 outputs a change in the signal Y. The obtained results are shown in FIG. 9 , which is the fifth step response diagram of the control system in FIG. 4 . Fig. 9 includes the step function command input signal curve A1, the third operation signal curve G1 caused by the load inertia _Jd =5J _m , the third operation signal curve G2 caused by the load inertia _Jd =10J _m , and the load inertia _Jd = The third operation signal curve G3 caused by 15J _m , the output signal curve H1 caused by the load inertia J _d = 5J _m , the output signal curve H2 caused by the load inertia J _d = 10J _m and the output signal caused by the load inertia J _d = 15J _m Curve H3. As shown in FIG. 9, the control system 40 of the present invention has good robustness to changes in the load inertia _Jd .

Next, the adjustment method of the control system 30 proposed by the present invention is described, which is used to adjust an output signal Y generated by a controlled object 31, including the following steps:

(a) formulate a target bandwidth B _w of the control system 30;

(b) According to the target bandwidth B _w , design a control function to make an open-loop bandwidth of the control system 30 close to the target bandwidth B _w , and generate a first operation signal U ₁ , wherein the control function is the main control unit 32 transfer function;

(c) generating a first adjustment signal Q ₁ by means of the first operation signal U ₁ ; and

(d) Computing the first adjustment signal Q ₁ , the output signal Y and the first operation signal U ₁ to generate a second operation signal U ₂ so that the output signal Y is close to the first adjustment signal Q ₁ .

Step (c) of said method comprises the following steps:

(c1) Design a first adjustment function according to the response behavior of the controlled object 31, wherein the first adjustment function is the transfer function of the first adjustment unit 33; and

(c2) Provide the first operation signal U ₁ to the first adjustment function to generate the first adjustment signal Q ₁ .

Step (d) of the above-mentioned method comprises the following steps:

(d1) subtracting the output signal Y from the first adjustment signal Q ₁ to generate a first result signal T ₁ ;

(d2) amplifying the first result signal T ₁ to a first magnification h to generate a second result signal T ₂ ;

(d3) adding the second result signal T ₂ and the first operation signal U ₁ to generate the second operation signal U ₂ ; and

(d4) Adjusting the magnitude of the first magnification h so that the output signal Y is close to the first adjustment signal Q ₁ .

Above-mentioned method also comprises the following steps after step (d):

(e) providing an input signal R to a second adjustment function to generate a second adjustment signal Q ₂ , wherein the second adjustment function is the transfer function of the second adjustment unit 34; and

(f) Calculate the second adjustment signal Q ₂ , the output signal Y and the input signal R to generate a third operation signal U ₃ , so that the transfer function of the control system 30 approaches the second adjustment function.

Step (f) of the above-mentioned method comprises the following steps:

(f1) subtracting the output signal Y from the second adjustment signal _Q2 to generate a third result signal _T3 ;

(f2) receiving the third result signal T ₃ , performing an integral operation to generate a fourth result signal T ₄ , wherein the integral operation is processed by the integral function F in the loop stabilizer 343;

(f3) amplifying the fourth result signal T ₄ to a second magnification m to generate a fifth result signal T ₅ ;

(f4) adding the fifth result signal T ₅ to the input signal R, and subtracting the output signal Y to generate a third operation signal U ₃ ; and

(f5) Adjust the size of the second magnification m so that the transfer function of the control system 30 approaches the second adjustment function.

The feature of the present invention is: a control system is used to control an output signal generated by a controlled body, including a main control unit, a first adjustment unit and a second adjustment unit, through the first magnification and the second magnification The adjustment of the two weight parameters can achieve the robustness and quick response of the control system, and make the overshoot of the output signal of the controlled object disappear or approach zero. The control system has the technical characteristics of target bandwidth, resistance to low-frequency interference, and transfer function tracking. Through the design of the main control unit, the first adjustment unit and the second adjustment unit, and the two weight parameters of the first multiplier and the second multiplier Adjustment, to achieve the above-mentioned technical features by means of real-time regulation.

To sum up, the control system and its adjustment method of the present invention can indeed achieve the effects set by the inventive idea. However, the above descriptions are only preferred embodiments of the present invention, and all equivalent modifications or changes made by those skilled in the art according to the spirit of the present invention shall be covered by the claims of the present invention.

Claims (12)

1. A control system for controlling an output signal produced by a controlled object, comprising: A master control unit is designed according to the physical behavior of the controlled object, so that an open-loop bandwidth of the control system approaches a target bandwidth, and generates a first operation signal; and A first adjustment unit is designed according to the response behavior of the controlled object, and receives the first operation signal to generate a first adjustment signal, wherein the first adjustment signal, the output signal and the first operation signal generating a second operation signal through calculation, so that the output signal is close to the first adjustment signal, so as to cancel an interference signal suffered by the controlled object; and A second adjustment unit receives an input signal to generate a second adjustment signal, wherein the second adjustment signal, the output signal and the input signal are calculated to generate a third operation signal to be provided to the main control unit , making the transfer function of the control system approach the transfer function of the second adjustment unit. 2. The control system according to claim 1, characterized in that: The master control unit includes a proportional-integral controller; and/or The controlled object is a motor. 3. The control system according to claim 1, further comprising: a fourth totalizer for subtracting the output signal from the second adjustment signal to generate a third result signal; A loop stabilizer, which receives the third result signal, generates a fourth result signal accordingly, and has an integral function, through the action of the integral function, the control system achieves zero steady-state error; a second amplifier, receiving the fourth result signal, and amplifying a second multiplier to generate a fifth result signal; by adjusting the second multiplier, the transfer function of the control system approaches the transfer function of the second adjustment unit function; and A fifth adder, sums the input signal and the fifth result signal, and subtracts the output signal to generate the third operation signal. 4. The control system according to claim 1, wherein when the controlled object is a motor: The transfer function of the physical behavior of the controlled object is K _t /((J _m +J _d )s+B), where J _m is a motor inertia, J _d is a load inertia, B is a damping coefficient, K _t is a proportional value; The transfer function of the main control unit is 2πB _w J _∑ /K _t , where B _w is the target bandwidth, and J _∑ is an estimated value of inertia of (J _m +J _d ); The transfer function of the first adjusting unit is K _t /(J _∑ s); and The transfer function of the second adjustment unit is 2πB _w /(s+2πB _w ). 5. A control system for controlling an output signal generated by a controlled object, comprising: A main control unit makes an open-loop bandwidth of the control system approach a target bandwidth and generates a first operation signal; and A first adjustment unit receives the first operation signal and generates a first adjustment signal accordingly, wherein the first adjustment signal, the output signal and the first operation signal are calculated to generate a second operation signal, so that the output The signal is close to the first adjustment signal, so as to cancel an interference signal suffered by the controlled object. 6. The control system according to claim 5, characterized in that: The master control unit is designed according to the physical behavior of the controlled object; and/or The first adjustment unit is designed according to the response behavior of the controlled object. 7. The control system of claim 5, further comprising: A first totalizer subtracts the output signal from the first adjustment signal to generate a first result signal; a first amplifier, receiving the first result signal, and amplifying a first magnification to generate a second result signal, by adjusting the first magnification, the output signal is close to the first adjustment signal; and A second totalizer, summing up the first operation signal and the second result signal to generate the second operation signal. 8. The control system of claim 5, further comprising: a third adder, used to add the second operation signal and the interference signal to provide to the controlled object; and/or A second adjustment unit receives an input signal and generates a second adjustment signal accordingly, wherein the second adjustment signal, the output signal and the input signal are calculated to generate a third operation signal, which is provided to the main control unit, The transfer function of the control system is made to approach the transfer function of the second adjustment unit. 9. A control system adjustment method for adjusting an output signal generated by a controlled object, comprising the following steps: (a) establishing a target bandwidth for the control system; (b) According to the target bandwidth, design a control function to make an open-loop bandwidth of the control system close to the target bandwidth, and generate a first operating signal; (c) generating a first adjustment signal by means of the first operation signal; and (d) Computing the first adjustment signal, the output signal and the first operation signal to generate a second operation signal so that the output signal is close to the first adjustment signal. 10. The adjustment method of control system as claimed in claim 9, is characterized in that, step (c) comprises the following steps: (c1) designing a first adjustment function according to the response behavior of the controlled body; and (c2) Providing the first operation signal to the first adjustment function to generate the first adjustment signal. 11. The adjustment method of control system as claimed in claim 9, is characterized in that, step (d) comprises the following steps: (d1) subtracting the output signal from the first adjustment signal to generate a first result signal; (d2) amplifying the first result signal by a first magnification to generate a second result signal; (d3) adding the second result signal and the first operation signal to generate the second operation signal; and (d4) Adjusting the magnitude of the first magnification to make the output signal close to the first adjustment signal. 12. The adjustment method of control system as claimed in claim 9, is characterized in that, after step (d), also comprises the following steps: (e) providing an input signal to a second adjustment function to generate a second adjustment signal; and (f) calculating the second adjustment signal, the output signal and the input signal to generate a third operation signal so that the transfer function of the control system approaches the second adjustment function, and wherein step (f) includes the following steps: (f1) subtracting the output signal from the second adjustment signal to generate a third result signal; (f2) receiving the third result signal, performing an integral operation, and generating a fourth result signal; (f3) amplifying the fourth result signal by a second magnification to generate a fifth result signal; (f4) adding the fifth result signal to the input signal, and subtracting the output signal, to generate the third operation signal; and (f5) Adjust the size of the second magnification, so that the transfer function of the control system approaches the second adjustment function.

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